Exploiting redundancy in closed-loop inverse kinematics for dexterous object manipulation.
Vincenzo LippielloFabio RuggieroLuigi VillaniPublished in: ICAR (2009)
Keyphrases
- object manipulation
- closed loop
- inverse kinematics
- robot manipulators
- control scheme
- manipulation tasks
- robot control
- pid controller
- end effector
- control law
- robot arm
- motion planning
- control system
- position and orientation
- robotic systems
- joint angles
- visual servoing
- nonlinear systems
- degrees of freedom
- mobile robot
- reinforcement learning
- neural network
- computer vision